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@@ -0,0 +1,38 @@
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+<launch>
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+ <arg name="scan_topic" default="scan" />
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+
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+ <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" clear_params="true">
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+ <param name="odom_frame" value="odom"/>
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+ <param name="map_update_interval" value="5.0"/>
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+ <!-- Set maxUrange < actual maximum range of the Laser -->
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+ <param name="maxRange" value="5.0"/>
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+ <param name="maxUrange" value="4.5"/>
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+ <param name="sigma" value="0.05"/>
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+ <param name="kernelSize" value="1"/>
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+ <param name="lstep" value="0.05"/>
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+ <param name="astep" value="0.05"/>
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+ <param name="iterations" value="5"/>
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+ <param name="lsigma" value="0.075"/>
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+ <param name="ogain" value="3.0"/>
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+ <param name="lskip" value="0"/>
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+ <param name="srr" value="0.01"/>
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+ <param name="srt" value="0.02"/>
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+ <param name="str" value="0.01"/>
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+ <param name="stt" value="0.02"/>
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+ <param name="linearUpdate" value="0.5"/>
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+ <param name="angularUpdate" value="0.436"/>
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+ <param name="temporalUpdate" value="-1.0"/>
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+ <param name="resampleThreshold" value="0.5"/>
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+ <param name="particles" value="80"/>
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+ <param name="xmin" value="-1.0"/>
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+ <param name="ymin" value="-1.0"/>
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+ <param name="xmax" value="1.0"/>
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+ <param name="ymax" value="1.0"/>
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+ <param name="delta" value="0.05"/>
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+ <param name="llsamplerange" value="0.01"/>
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+ <param name="llsamplestep" value="0.01"/>
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+ <param name="lasamplerange" value="0.005"/>
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+ <param name="lasamplestep" value="0.005"/>
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+ <remap from="scan" to="$(arg scan_topic)"/>
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+ </node>
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+</launch>
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